[wpimath] Clean up Eigen usage

* Replace Matrix<> with Vector<> where vectors are explicitly intended.
  I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
  "\(Eigen"` on main (the initializer list constructors make more false
  positives).
* Replace MakeMatrix() and operator<< usage with initializer list
  constructors. I found these via `rg MakeMatrix` and `rg "<<"`
  respectively.
* Deprecate MakeMatrix()

wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp

@@ -48,8 +48,8 @@ TEST(StateSpaceSimTest, TestFlywheelSim) {
     // Then, SimulationPeriodic runs
     frc::sim::RoboRioSim::SetVInVoltage(
         frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
-    sim.SetInput(frc::MakeMatrix<1, 1>(
-        motor.Get() * frc::RobotController::GetInputVoltage()));
+    sim.SetInput(Eigen::Vector<double, 1>{
+        motor.Get() * frc::RobotController::GetInputVoltage()});
     sim.Update(20_ms);
     encoderSim.SetRate(sim.GetAngularVelocity().to<double>());
   }